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Active Disturbance Rejection Control Based on an Improved Equivalent-Input-Disturbance Approach

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5 Author(s)
Rui-Juan Liu ; Hunan Eng. Lab. for Adv. Control & Intell. Autom., Central South Univ., Changsha, China ; Min Wu ; Guo-Ping Liu ; Jinhua She
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This paper presents an improved equivalent-inputdisturbance (IEID) approach for disturbance rejection. It can be used for both minimumand nonminimum-phase plants. First, a full-order generalized state observer (GSO) is employed in the construction of an IEID-based servo system to estimate an equivalent input disturbance. Then, a stability condition is derived and a GSO design algorithm is developed based on the stability condition and a pole placement algorithm. Finally, a numerical example demonstrates the validity of this method.

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Mechatronics, IEEE/ASME Transactions on  (Volume:18 ,  Issue: 4 )